KR-102962544-B1 - METHOD FOR DIVIDING A SEARCH AREA, DEVICE AND PROGRAM USING THE SAME

KR102962544B1KR 102962544 B1KR102962544 B1KR 102962544B1KR-102962544-B1

Abstract

A search area division method according to an embodiment of the present invention comprises the steps of: calculating a predicted probability distribution in which a seabed target is expected to be detected within a search target area based on sediment quality information and depth information regarding a search target area to be searched for a seabed target, and the search depth and measured distance of a mobile exploration vehicle; calculating a minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and dividing and allocating the search target area into a plurality of allocation areas based on the calculated minimum number of searches required for each unit area within the search target area.

Inventors

조용훈
정철민
유찬우
김재호

Assignees

국방과학연구소

Dates

Publication Date: 20260507
Application Date: 20250206

Claims (15)

A search area segmentation device calculates a predicted probability distribution in which a seabed target is expected to be detected within the search area, based on sediment quality information and depth information regarding the search target area to be used for searching for seabed targets, and the search depth and measured distance of the mobile exploration vehicle; The above-described search area segmentation device calculates the minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and The search area partitioning device comprises the step of dividing and allocating the search target area into a plurality of allocation areas based on the minimum number of searches required for each unit area within the calculated search target area. The step of dividing the above-mentioned search target area into multiple allocation areas and allocating them is: A method for dividing a search area, wherein each of the aforementioned divided multiple allocation areas is assigned to a different mobile exploration body.
In paragraph 1, The above-mentioned seabed target is, A method for dividing a search area for a naval mine existing on the seabed.
In paragraph 1, The above mobile exploration vehicle is, A method for dividing a search area, which is an unmanned submersible or unmanned surface vessel.
In paragraph 1, The measured distance of the above-mentioned mobile probe is, A method for dividing a search area, which is the measurement distance of a sonar installed on the above-mentioned mobile exploration vehicle.
In paragraph 4, The step of calculating the above-mentioned predicted probability distribution is, The above-described search zone segmentation device calculates a detection probability distribution based on the low-quality information, the depth information, the search depth, and the measured distance; and A search area division method comprising the step of the search area division device defining the predicted probability distribution with the measured distance of the moving probe as a variable based on the detection probability distribution.
In paragraph 5, The step of defining the above-mentioned prediction probability distribution is, A search region partitioning method that defines the above prediction probability distribution based on the following (Equation 1). (Formula 1) (The above EPOD is the predicted probability distribution, the above POD is the detection probability distribution, and the above r is the measured distance)
In paragraph 6, The step of calculating the minimum number of searches required above is, A search area division method for calculating the minimum number of searches required for each of the above unit areas based on the following (Equation 2). (Equation 2) (The above ns is the minimum number of searches required in each of the unit regions, and the above tPod is the target search probability)
In paragraph 5, The step of calculating the minimum number of searches required above is, A search area division method that calculates the minimum number of searches required for each unit area within the search area, based on the target search probability, the predicted probability distribution, and the probability that the seabed target was found in the previously searched area, when a previously searched area exists within the search area.
In paragraph 8, The step of calculating the minimum number of searches required above is, A search area division method that calculates the minimum number of searches required for each of the unit areas based on the following (Equation 3) when a search area already exists within the search target area. (Equation 3) (The above ns is the minimum number of searches required in the unit area, the above tPod is the target search probability, the above pPOD is the previously searched probability, and the above EPOD is the predicted probability distribution)
In paragraph 1, The step of dividing the above-mentioned search target area into multiple allocation areas and allocating them is: A method for dividing a search area, wherein the search area is divided into a plurality of allocated areas based on the relative ratio of the minimum number of searches required to the movement speed of the mobile probe.
In Paragraph 10, The step of dividing the above-mentioned search target area into multiple allocation areas and allocating them is: A method for dividing a search area into a plurality of allocation areas such that the deviation of the relative ratio of the minimum number of searches required to the movement speed of the mobile probe in each of the plurality of allocation areas is minimized.
In Paragraph 11, The step of dividing the above-mentioned search target area into multiple allocation areas and allocating them is: A search area partitioning method for partitioning the search target area into multiple allocation areas based on the following (Equation 4) and (Equation 5). (Equation 4) (The above i is the identification number of the above mobile exploration vehicle, the above is the allocation area assigned to the i-th moving probe, the above is the minimum number of searches required in the unit area of the i-th moving probe, the above The above It is the average value of (Equation 5) (The above j is the identification number of the unit area, the above is the minimum number of searches required in the j-th unit area, the above is the movement speed of the i-th moving probe)
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A predictive probability distribution calculator that calculates a predicted probability distribution in which a seabed target is expected to be detected within a search target area, based on sediment information and depth information regarding a search target area to be used for searching for seabed targets, and the search depth and measured distance of a mobile exploration vehicle; A minimum search count calculator that calculates the minimum search count for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and It includes an area allocator that divides and allocates the search target area into a plurality of allocation areas based on the minimum number of searches required for each of the unit areas within the calculated search target area. The above area allocator is, A search area division device that assigns each of the aforementioned divided multiple allocation areas to different mobile exploration bodies.
A program stored on a computer-readable storage medium for performing a search area partitioning method combined with a processor, A step of calculating a predicted probability distribution in which a seabed target is expected to be detected within a search target area, based on sediment information and depth information regarding a search target area to be used for searching for seabed targets, and the search depth and measured distance of a mobile exploration vehicle; A step of calculating the minimum number of searches required for each unit area within the search target area based on the target search probability and the calculated predicted probability distribution; and The program code includes a step of dividing and allocating the search target area into a plurality of allocation areas based on the minimum number of searches required for each of the unit areas within the calculated search target area. The step of dividing the above-mentioned search target area into multiple allocation areas and allocating them is: A program stored on a computer-readable storage medium that assigns each of the aforementioned divided multiple allocation regions to different mobile probes.

Description

Method for Dividing a Search Area, Device and Program Using the Same The present invention relates to a method for dividing a search area, and to an apparatus and program using the same. More specifically, it relates to a method for dividing a search area that calculates the minimum number of searches required for each unit area within a search target area based on a target search probability and a predicted probability distribution, and to a apparatus and program using the same that divides and allocates a search target area into a plurality of allocation areas based on the calculated minimum number of searches required. Underwater mines are weapon systems that offer excellent effectiveness relative to the effort required for deployment. Countering underwater mines is a mission where effectiveness is expected to be maximized through the application of unmanned systems, as it involves significant consumption of time, manpower, and costs. In particular, since mine warfare is conducted in stages—detection, classification, identification, and neutralization—the development of unmanned and remotely operated response systems and software suitable for each stage is underway. A brief description of each drawing is provided to help to better understand the drawings cited in the detailed description of the invention. FIG. 1 is a block diagram of a search area division device according to one embodiment of the present invention. FIG. 2 is a flowchart according to one embodiment of a search area division method performed by the search area division device of FIG. 1. Figure 3 is an example diagram showing the search target area and the initial position of the moving probe. Figure 4 is a diagram showing an example of depth information regarding the search target area. Figure 5 is a diagram showing an example of low-quality information regarding the search target area. Figure 6 is a diagram showing an example of the detection probability distribution of a seabed target calculated for a search target area. Figure 7 is a diagram illustrating an example of a prediction probability distribution defined based on the detection probability distribution of Figure 6. Figure 8 is a diagram illustrating the relationship between the search target area and the unit areas. Figure 9 is a diagram illustrating an example of the minimum number of searches required calculated based on the predicted probability distribution of Figure 8. FIG. 10 is a drawing showing an example of allocated regions divided and allocated according to a search area division method according to an embodiment of the present invention. The technical concept of the present invention is subject to various modifications and may have various embodiments, and specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the technical concept of the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the scope of the technical concept of the present invention. In describing the technical concept of the present invention, detailed descriptions of related prior art are omitted if it is determined that such descriptions may unnecessarily obscure the essence of the invention. Furthermore, numbers used in the description of this specification (e.g., First, Second, etc.) are merely identification symbols to distinguish one component from another. In addition, when a component is described in this specification as being "connected" or "connected" to another component, it should be understood that the component may be directly connected to or directly connected to the other component, but unless otherwise specifically stated, it may also be connected or connected through another component in between. In addition, terms such as “~part,” “~device,” “~device,” and “~module” described in this specification refer to a unit that processes at least one function or operation, and may be implemented as hardware or software or a combination of hardware and software such as a processor, microprocessor, microcontroller, CPU (Central Processing Unit), GPU (Graphics Processing Unit), APU (Accelerate Processor Unit), DSP (Drive Signal Processor), ASIC (Application Specific Integrated Circuit), and FPGA (Field Programmable Gate Array), and may also be implemented in a form combined with memory that stores data necessary for processing at least one function or operation. Furthermore, it is intended to clarify that the classification of components in this specification is merely based on the primary function each component is responsible for. That is, two or more components described below may be combined into a single component, or a single component may be divided into two or more components based on more subdivided functions. Additionally, each component described below may additionally perform some or all of the functions of other compo